/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RW_GRASPPLANNING_GRASPQUALITYMEASURE3D_HPP_
#define RW_GRASPPLANNING_GRASPQUALITYMEASURE3D_HPP_

#if !defined(SWIG)
#include <rw/core/Ptr.hpp>
#endif 
namespace rw { namespace graspplanning {

    class Grasp3D;

    /**
     * @brief an interface for methods evaluating the quality of a specific grasp
     */
    class GraspQualityMeasure3D
    {
      public:
        //! smart pointer type of this class
        typedef rw::core::Ptr< GraspQualityMeasure3D > Ptr;

        virtual ~GraspQualityMeasure3D() {}

        /**
         * @brief computes the quality of the grasp such that the quality
         * is in the interval [0;1] with 1 being the highest quality.
         */
        virtual double quality (const Grasp3D& grasp) const = 0;
    };

}}    // namespace rw::graspplanning

#endif /*GRASPQUALITYMEASURE3D_HPP_*/
